.TH "Zebulon::Underwater::PrimitiveDriver" 3 "13 Oct 2009" "Version 2" "zebulon" \" -*- nroff -*-
.ad l
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.SH NAME
Zebulon::Underwater::PrimitiveDriver \- 
.PP
A JAUS Primitive Driver for the Underwater Vehicle.  

.SH SYNOPSIS
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.PP
.PP
\fC#include <primitivedriver.h>\fP
.SS "Public Member Functions"

.in +1c
.ti -1c
.RI "int \fBSetController\fP (\fBMCU::Interface\fP *rabbit)"
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.ti -1c
.RI "double \fBGetHorizontalThrust\fP () const "
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.RI "double \fBGetVerticalThrust\fP () const "
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.RI "double \fBGetSteering\fP () const "
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.ti -1c
.RI "void \fBPrintWrenchEffort\fP () const "
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.RI "virtual int \fBSetupService\fP ()"
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.RI "virtual int \fBStandby\fP ()"
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.RI "virtual int \fBResume\fP ()"
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.RI "virtual int \fBSetWrenchEffort\fP (const Jaus::SetWrenchEffort *command)"
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.RI "virtual int \fBReportWrenchEffort\fP (const Jaus::QueryWrenchEffort *query)"
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.RI "virtual int \fBReportPlatformSpecifications\fP (const Jaus::QueryPlatformSpecifications *query)"
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.ti -1c
.RI "virtual int \fBSetDiscreteDevices\fP (const Jaus::SetDiscreteDevices *command)"
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.RI "virtual void \fBPrintStatus\fP () const "
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.SS "Static Protected Member Functions"

.in +1c
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.RI "static void \fBDriverThread\fP (void *args)"
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.in -1c
.SS "Protected Attributes"

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.RI "CxUtils::Mutex \fBmDriverMutex\fP"
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.RI "\fIMutex for thread protection. \fP"
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.RI "CxUtils::Thread \fBmDriverThread\fP"
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.RI "\fIThread which continuously sends drive commands to Rabbit. \fP"
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.RI "double \fBmForwardThrust\fP"
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.RI "\fIDesired Forward thrust rate. \fP"
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.RI "double \fBmSteering\fP"
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.RI "\fIDesired Steering rate. \fP"
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.RI "double \fBmVerticalThrust\fP"
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.RI "\fIDesired Vertical thrust rate. \fP"
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.RI "CxUtils::Point3D \fBmMotorThrusts\fP"
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.RI "\fIThrusts for the 3 motors on the vehicle x = left, y = right, z = vertical. \fP"
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.RI "\fBMCU::Interface\fP * \fBmRabbitInterface\fP"
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.RI "\fIPointer to interface to Rabbit motor controller. \fP"
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.RI "Jaus::ReportPlatformSpecifications \fBmBaseSpecs\fP"
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.RI "\fIBase message containing Underwater vehicle specs. \fP"
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.RI "unsigned int \fBmWrenchEffortTimeMs\fP"
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.RI "\fITime in ms when last Set Wrench Effort command was received. \fP"
.in -1c
.SH "Detailed Description"
.PP 
A JAUS Primitive Driver for the Underwater Vehicle. 

.SH "Author"
.PP 
Generated automatically by Doxygen for zebulon from the source code.
